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The development of Connected Automated Vehicle (CAV) technology introduces vehicle connectivity and automation into urban intersection management. It offers powerful means for accurate traffic state perception and effective traffic control actuation. This enabled the development of an intersection control algorithm that included an optimal traffic signal control algorithm and a trajectory planning function. The intersection controller aimed to maximize the intersection throughput while improving the vehicle energy efficiency via implementing adaptive signal phasing and time plans and sending reference trajectories to CAVs. Its effectiveness was tested on a closed test track equipped with a real-time traffic simulation platform, a traffic signal controller, and three physical test vehicles. The test results suggest that the intersection control algorithm was able to improve the average speed of the test vehicles by 9 …